IP Library › Granted Patent US 10,709,513
Granted Patent B2
US 10,709,513 · App. 16/152,883 · Granted Jul 14, 2020

Control of the rate of actuation of tool mechanism based on inherent parameters

Inventors: David C. Yates (West Chester, OH); Frederick E. Shelton, IV (Hillsboro, OH); Michael J. Vendely (Lebanon, OH); Jason L. Harris (Lebanon, OH); Mark D. Overmyer (Cincinnati, OH)
Assignee: Ethicon LLC
A61B34/30A61B34/37A61B34/74B25J9/04A61B34/35A61B2034/302A61B2034/305A61B2034/741A61B2034/742A61B2034/743Y10S901/02Y10S901/15
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Quick Facts
Patent No.
US 10,709,513
App. No.
16/152,883
Granted
Jul 14, 2020
Kind
B2
Abstract

A robotic surgical system including a control system that controls the movement of a robotic arm coupled to a tool assembly having an end effector is described. The control system can also assist with controlling either the articulation or rotation of the end effector. Furthermore, the control system can detect and monitor one or more properties (e.g., articulation, rotation, etc.), which can be used by the control system to determine one or more appropriate movement parameters of either the robotic arm (e.g., velocity of movement) or the tool assembly coupled to the robotic arm (e.g., rotational speed of the end effector). The control system can detect any number of characteristics related to the end effector and use such information to control a variety of movement parameters associated with either the robotic arm or the tool assembly.

Claims (35)

1. A robotic surgical system, comprising:

a robotic arm having a proximal end configured to be coupled to a support and having a driver at a distal end thereof, the driver including one or more motors;

a tool assembly operatively coupled to the robotic arm, the tool assembly comprising a shaft having a longitudinal axis that is operatively coupled to the driver to enable selective rotation of the shaft;

an end effector pivotally coupled to a distal end of the shaft, the end effector being operatively coupled to the driver and being configured to selectively pivot relative to the shaft, the end effector having an operational window area within a region circumscribed by a portion of the end effector as the shaft rotates about the longitudinal axis; and

a control system configured to monitor the operational window area to control a velocity of movement of the robotic arm such that the velocity of movement of the robotic arm is controlled as a function of at least one of a rotational speed of the shaft and the operational window area.

2. The robotic surgical system of claim 1 , wherein the velocity of movement of the robotic arm is inversely proportional to the operational window area.

3. The robotic surgical system of claim 2 , wherein the relationship between the velocity of movement of the robotic arm and the operational window area is one of a linear relationship and a non-linear relationship.

4. The robotic surgical system of claim 1 , wherein the control system is configured to monitor a moment of inertia of the end effector and velocity of movement of the robotic arm is controlled as a function of the moment of inertia of the end effector, wherein the moment of inertia of the end effector is defined by at least one of a mass of the end effector, the rotational speed of the shaft, and the articulation angle of the end effector.

5. The robotic surgical system of claim 4 , wherein the velocity of movement of the robotic arm is inversely proportional to the moment of inertia of the end effector.

6. The robotic surgical system of claim 5 , wherein the relationship between the velocity of movement of the robotic arm and the moment of inertia of the end effector is one of a linear relationship and a non-linear relationship.

7. The robotic surgical system of claim 4 , wherein the articulation angle of the end effector is a distance between a distal portion of the end effector and a longitudinal axis of the shaft.

8. The robotic surgical system of claim 1 , wherein the control system is configured to set a maximum of the velocity of movement based on a circumference of the operational window area.

9. The robotic surgical system of claim 1 , wherein the control system is configured to set a maximum of the velocity of movement of the robotic arm for each of a plurality of predetermined operational window areas.

10. The robotic surgical system of claim 4 , wherein the control system is configured to set a maximum of the velocity of movement of the robotic arm for each of a plurality of predetermined moments of inertia of the end effector.

11. A robotic surgical system, comprising:

a robotic arm having a proximal end configured to be coupled to a support and having a driver at a distal end of the robotic arm, the robotic arm being movable relative to the support;

a tool assembly comprising

a housing configured to releasably couple to the driver, the housing including an actuator that is actuated by a motor associated with the driver;

a shaft extending from the housing; and

an end effector pivotally coupled to a distal end of the shaft and configured to selectively pivot relative to the shaft thereby defining at least one window area, each of the at least one window area having a radius that is equal to a distance between a distal end of the end effector and a longitudinal axis of the shaft; and

a control system configured to control a velocity of movement of the robotic arm such that the velocity of movement of the robotic arm decreases as at least one of a rotational speed of the shaft and the at least one window area increases.

12. A surgical method, comprising:

manipulating a tool assembly operatively coupled to a robotic arm, the tool assembly having a rotatable shaft and an end effector operatively coupled to the shaft and configured to articulate relative to the shaft;

monitoring an operational window area of the end effector wherein the operational window area is a region circumscribed by a portion of the end effector as the shaft rotates about the longitudinal axis; and

controlling a velocity of movement of the robotic arm such that the velocity of movement of the robotic arm is controlled as a function of at least one of a rotational speed of the shaft and the operational window area.

13. The method of claim 12 , wherein the first velocity of movement of the robotic arm is inversely proportional to the first operational window area.

14. The method of claim 12 , wherein the relationship between the first velocity of movement of the robotic arm and the first operational window area is one of a linear relationship and a non-linear relationship.

15. The method of claim 12 , further comprising:

setting a maximum of the velocity of movement based on a circumference of the operational window area.

16. The method of claim 12 , further comprising:

monitoring a moment of inertia of the end effector, wherein the moment of inertia is defined by at least one of a mass of the end effector, the rotational speed of the shaft, and the articulation angle of the end effector.

17. The method of claim 16 , further comprising:

controlling the velocity of movement of the robotic arm as a function of the moment of inertia of the end effector, wherein the moment of inertia of the end effector.

18. The method of claim 12 , further comprising:

setting a maximum of the velocity of movement of the robotic arm for each of a plurality of predetermined moments of inertia of the end effector.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Apr 27, 2021
From: ETHICON LLC
To: CILAG GMBH INTERNATIONAL
Reel/Frame 056601/0339 →